Robot Design Project, 7.5 credits

Object

Course contents
The major of the course is a project part.

A serie of lecture gives an introduction to a mechatronical system and diffrent parts that are project related. Furthermore, an overview of how to control is achieved in a mechatronical perspective.

Project Autonomous mobile robot competition
The project is that an autonomous mobile robot is built and programmed by the students and the competition is a part of the course. The robot is build using lego, sensors, actuators, color-camera and a DSP. The DSP is programmed making the robots totaly autonomous during the competition. The students work in groups of two or three, which compete against each other in a tournament at the end of the term. The subject for competition is presented in the course start-up and the robots then are designed to solve the task in the most suitable way.

Thus, no human interaction is needed and the robots do not follow any pre-specified route. The arena is 2 x 2 meters. The tournament is a cup following a ranking system.  But first, the robots are showing off alone on the arena for 2 minuts. The competitors are ranked after how good they performed. The tournament is open for public and is an entertaining moment for young and old.

Examination

1) An oral presentation of the image processing part (Compulsary) (pdf, 15.1 kB)
The students are supposed to show,  by using pictures and by explaining in an abstract manner, how to:

• Color segment a color from a RGB-picture.
• Color segment a color from a normalized RGB-picture.
• Examplify the difference between a noramalized image and a non noramalized.
• How to choose the threshold in the colorsegmentation phase?
• How to classify different objects in the binary picture?
• How to find the center of an object?
• Other interessting aspects concerning the binary or RGB picture i.e. filtering etc. (bonus, non mandatory)

The examination will be in the project room. Each robot-team will answer the questions together.

Some Matlab-files and images (160kB) to use in color segmentation.

2) Account the project by showing that the robot works according to the specification (Compulsory (pdf, 15.1 kB)).

3) Hand in their kits.

Find your file

Getting started
Reading a image (zip, 16.7 kB)
IO (zip, 615 bytes)

Hardware overview
Camera (pdf, 139.5 kB)
Connections (pdf, 392.9 kB) with their addresses (pdf, 3.3 kB)
Dc-output (pdf, 4 kB)

Image processing
Camera files (zip, 16.7 kB)
Loading a picture (zip, 345.5 kB)

Project files DSP
Drivers (zip, 17.3 kB)
Linking file (zip, 358 bytes)
Interrupt vektor (zip, 344 bytes)

Software Image processing
Color segmentation using Matlab, exmples and images (zip, 158.8 kB)

Flash
Boot-assembly (zip, 1.1 kB)
Command-file (zip, 306 bytes)
Down loading (zip, 5.3 kB)

Faq
Faq (pdf, 388 kB)